Self contained hydraulic system for a remote controlled unit

Abstract

A remotely controlled unit providing three degrees of actuation (rotational, perpendicular to a long axis, parallel to a long axis) of a variety of attachments to assist in the inspection, measurement, lining, and repair of pipe lines. The degrees of actuation are accomplished using a hydraulic system having a hydraulic pump, reservoir, solenoid actuated automatic valves, pistons, and cylinders inside the body of the unit. The components are designed to operate in a partially to fully submersed environment. The unit has an on board camera system that allows an operator the ability to monitor the attachments. In addition to the degrees of actuation, the unit carries a hydraulic clamp that secures the robot in the pipe during its various operations. The unit is controlled and cameras viewed through a control cable that connects the unit to an above ground control station consisting of micro control boards controlled by a CPU.

1 . A remote controlled unit comprising:
 a housing sized to pass through an enclosed space having a diameter smaller than or equal to approximately 16 inches;   an actuation device permitting three degrees of motion about an axis attached to an end of the housing; and   a hydraulic system fully enclosed in the housing, capable of generating at least 25 psi system pressure, and hydraulically coupled to the actuation device to provide a force.   
     
     
         2 . The unit according to  claim 1 , wherein the three degrees of motion comprise:
 a longitudinal motion along an axis of the housing;   a radial motion approximately perpendicular to the axis of the housing; and   a rotational motion about the axis of the housing.   
     
     
         3 . The unit according to  claim 1 , wherein the hydraulic system includes a motor, a pump, a reservoir, a plurality of 4 way 3 position valves, and flexible nylon tubing. 
     
     
         4 . The unit according to  claim 3 , wherein: the plurality of 4 way 3 position valves are less than or equal to 1.25×1.65×6.57 inches. 
     
     
         5 . The unit according to  claim 1 , wherein a diameter of the housing is less than or equal to approximately 6 inches and less than or equal to approximately 36 inches in length. 
     
     
         6 . The unit according to  claim 1 , wherein the actuation device comprises:
 a hydraulic piston having an integrated linear race and a dovetail allowing an extension of at least one attachment to the unit.   
     
     
         7 . The unit according to  claim 1 , further comprising:
 a clamping unit disposed in the housing and hydraulically coupled to the hydraulic unit,   wherein the clamping unit is hydraulically extended to engage a surface of the enclosed space to anchor the unit.   
     
     
         8 . The unit according to  claim 7 , wherein the clamping unit includes a hydraulically actuated four bar linkage. 
     
     
         9 . The unit according to  claim 1 , wherein the actuation device further comprises:
 a rotational race; and   an actuator shaft,   wherein moment forces created from radial extension and towing of the unit are transferred to both the rotational race and the actuator shaft.   
     
     
         10 . The unit according to  claim 1 , further comprising a dual rod piston used to resist torque created during rotation. 
     
     
         11 . The unit according to  claim 1 , wherein the hydraulic unit uses food grade oil as hydraulic fluid.